Decentralized group control of autonomous robots swarm without data routing

Decentralized group control of autonomous robots swarm without data routing

Konstantin S. Аmelin
PhD in Physics and Mathematics, Saint Petersburg University, Scientific and Educational Center «Mathematical Robotics and Artificial Intelligence», Director, 7-9, Universitetskaya naberezhnaya, Saint Petersburg, 199034, Russia, tel.: +7(812)428-42-10, кThis email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3643-5132

Natalia O. Amelina
PhD in Physics and Mathematics, Saint Petersburg University, Senior Research Scientist, 7-9, Universitetskaya naberezhnaya, Saint Petersburg, 199034, Russia, tel.: +7(812)428-42-10, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-8792-2144

Oleg N. Granichin
Doctor of Physical and Mathematical Sciences, Saint Petersburg University, Professor, 7-9, Universitetskaya naberezhnaya, Saint Petersburg, 199034, Russia, tel.: +7(812)428-42-10, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3631-7347

Sergey F. Sergeev
Doctor of Psychological Science, Professor, Saint Petersburg University, Professor, 7-9, Universitetskaya naberezhnaya, Saint Petersburg, 199034, Russia; Peter the Great Saint Petersburg Polytechnical University (SPbPU), Scientific and Research Laboratory of Complex Systems, Head of Laboratory, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, tel.: +7(911)995-09-29, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID ID: 0000-0002-6677-8320

Received 12 October 2020

Abstract
To solve a wide class of practical problems in engineering practice, groups of robots with varying network topology are used; these groups are controlled by decentralized algorithms. The emphasis is on decentralizing computing in group, but at the communications protocol layer, the network remains centralized using data routing. This article discusses the task of group control, in which there is no traditional data packets routing. The procedure of simulation modeling and the hardware stand that implements it are described.

Key words
Group artificial intelligence, consensus achievement, multi-agent technologies, robot programming, distributed computing.

Acknowledgements
The research is supported by Saint Petersburg State University, project no.73555239.

DOI
https://doi.org/10.31776/RTCJ.9105

Bibliographic description
Amelin, K., Amelina, N., Granichin, O. and Sergeev, S., 2021. Decentralized group control of autonomous robots swarm without data routing. Robotics and Technical Cybernetics, 9(1), pp.42-48.

UDC identifier:
004.896:519.711

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